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This package provides a method for construction of a 3D representation of sensed data that we label a collision_map. A collision map is a set of boxes whose extents and orientation is specified. It is typically generated using point-cloud data from laser range sensors, stereo cameras and other 3-D sensing devices.

Note: This node requires input of type PointCloud. If using an OpenNI device that outputs only PointCloud2, you should look at collider or octomap_server instead.

Collision map with self occlusions

This particular type of collision map is an implementation of an occupancy grid for the environment of the robot which also contains points from the previous world views, if they have become occluded by robot links. The example in the picture shows the collision map after part of it has been occluded by the arm (in red).


API Stability

2024-07-13 13:15